JPS63253208A - Optical shape measuring instrument - Google Patents

Abstract

PURPOSE:To take a measurement through simple constitution by shifting the coordinates of a taught position to which shift information is added according to the deviation between a measurement start position taught in a storage device and an actual measurement start position on a body to be measured which is measured by a sensor. CONSTITUTION:A shift command setting function device 6 adds shift information to an optional taught point among plural taught points. A shift processing part 47 shifts the coordinates of the taught point to which the shift information is added according to the deviation between the measurement start position on the body 1 to be measured which is taught in the taught point storage device 5 and the actual measurement start position on the body 1 to be measured. Shift information is added to all taught points where it is clear that the shape or size of the body 1 to be measured varies, and consequently the deviation between the taught value and an actual value is detected in the stage of shape size measurement, so that the coordinates of the taught point to which the shift information is added is shifted according to the deviation.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a shape measuring device using an optical sensor.

[Conventional technology]

FIG. 4 is a perspective view conceptually showing the configuration of a general mechanical system used in this type of measuring device, and in the figure (1)
is an object to be measured, and (2) is an optical sensor that uses a laser beam or the like to measure the shape or dimensions of the object to be measured (1), and the distance to the object (1) is measured by a height signal. Output as . (3) is a sensor drive device for moving the sensor (2) to any position on the coordinates X, Y, and Z axes that are perpendicular to each other, and a servo motor for moving the sensor (2) in the x, y, and z axes, respectively. (31) , (32
), (33) and a servo motor (34) for rotating the sensor (2) around an axis (4) parallel to the two axes.
).

FIG. 5 is an enlarged perspective view showing the external appearance of the sensor (2), and in the figure (5) is the mounting part of the sensor (2) whose central axis coincides with the axis (4); 21) is the projection light projected from the sensor (2) toward the object to be measured (1), and (22) is the reflected light from the object to be measured (1);
This reflected light (22) reaches a light receiving part (not shown) provided in the sensor (2), and the object to be measured (1) and the sensor (2)
This outputs the distance to the ground as a height signal.

In addition to the above, the shape measuring device includes a means for teaching the measurement path of the sensor (2) in advance, a means for storing the teaching point as coordinate information, the above stored information, a height signal h from the sensor (2), and Means for sequentially controlling the senna (2) based on the position information of the sensor (2), etc., and calculating the shape or dimensions of the object to be measured (1) from the measured height signal h and the position coordinates of the senna (2). Although the apparatus includes means for storing calculation results, illustrations of these are omitted for the sake of simplicity.

A conventional example of measuring the shape and dimensions of an object using the shape measuring device configured as described above is disclosed in Japanese Patent Application Laid-open No. 116011/1983, for example.

When measuring the shape and dimensions of an object to be measured, the object to be measured (1)
The measurement path of the sensor (2) is taught in advance to a storage device (not shown) along the surface of the object, and measurements are taken. , it was necessary to teach. Furthermore, as disclosed in the above-mentioned publication, a method is known in which the deviation from the planned trajectory is determined and the planned trajectory is corrected according to this deviation, but this method shifts the entire measurement path unconditionally, and the configuration is complicated.

[Problem that the invention seeks to solve]

As explained above, in the conventional device, teaching is performed each time a measurement is made, or the entire measurement path is shifted unconditionally, so the structure is complicated and there is a problem that there is waste.

This invention was made in order to solve the above-mentioned conventional problems, and it is not necessary to teach each time a measurement is made about a sample to be measured that has a partially common shape. The purpose of this study is to obtain an optical measuring device that can measure .

[Means for solving problems]

In the optical shape measuring device of the present invention, among the plurality of teaching points,
A shift information adding device that adds shift information about an arbitrary teaching point, and a shift information adding device that adds shift information based on the deviation between the measurement start position taught in the storage device and the actual measurement start position on the object measured by the sensor. and a shift processing section that shifts the coordinates of the taught point.

[Effect]

In the optical shape measuring device according to the present invention, shift information is added to all teaching points for portions where the shape or dimensions of the object to be measured clearly change. At the stage of measuring the shape and dimensions of the object, when the sensor approaches the measurement starting point of the object in measurement mode, it detects the deviation between the taught value and the actual value, and outputs shift information according to this deviation. The coordinates of the added teaching point are shifted.

[Embodiments of the invention]

FIG. 1 is a block diagram functionally showing the main parts of an embodiment of the present invention. In the figure, (1) is an object to be measured, (2) is a senna, and (3) is a senna drive device. is similar to that shown in FIGS. 4 and 5 above. (4
) is the NC control section, and the teach program storage section (4
1), a teach program decoding processing section (42), a trajectory interpolation processing section (43), an approach calculation processing section (44), and a position control processing section (45). (5) is a storage device that stores the measurement path including the measurement start position of the sensor (2) as a plurality of teaching points, and (6) is a storage device that adds shift information for any teaching point among the plurality of teaching points. Shift command setting function device (7) is the above sensor drive device (3)
This is a resolver device installed in (8) is the current position calculation processing means of the sensor (2), and (9) is the position of the shape or dimension of the object to be measured (1) based on the measurement command (trigger signal) from the teaching program decoding processing section (42). This is a measurement point position coordinate storage means for storing the measurement point position coordinates as coordinates.

Fig. 2 is a plan view illustrating an example of teaching points and shift points for an object to be measured. The length in the left and right direction is L2, and the dashed line indicates the steel shape whose length is L2. (1
0), (11), and (12) are set bins for the objects to be measured, and P1 to P211 are teaching points. Of the teaching points,
Shift information is added to P, ~P, and P2□~P21.

FIG. 3 is a flow diagram illustrating the operation of the embodiment of the present invention. In the figure, step (13) is sensor (2)
Step (14) is a program for determining whether or not to terminate the approach, and step (15) is a program for determining the initial taught coordinates at the end of the approach. A program that calculates the deviation between the actual measurement coordinates and the actual measurement coordinates (
16) is a program that shifts the coordinates of only the teaching point to which shift information has been added based on the shift amount obtained in step (15), and step (17) is a program that performs measurement processing using the shifted taught program. .

Next, the operation of an embodiment of the present invention configured as described above will be described.

First, as shown in Fig. 2, the object to be measured (1) is placed on the set bins (10), (11), (
12) The measurement path of the zero-order sensor (2), which is set in contact with the sensor (2), will be taught at points such as P and -P21 in FIG. The coordinates of each teaching point P, ~P2° are stored in the storage device (5). In addition, P2 is the object to be measured (1) of Senna (2)
The 0th order, which is the approach start position in the measurement mode to the measurement start target position P, above, is the teaching point P, ~P9 of the above teaching points.
For each teaching point from 22□ to PH1, the object to be measured (
Since the shape or dimensions of 1) change as shown by the broken line in FIG. 2, shift information is added by the shift command setting function device (6).

The preparation work is now complete.

Next, a case where the dimensions of the object to be measured (1) are partially different from those used for teaching as shown in FIG. 2 will be described.

After setting the object to be measured (1) in the same manner as above, when measurement is started, the sensor (2) moves to the teaching points P1 to P2, and then changes to the measurement mode toward P2 to P in step (13). approach the object to be measured (1).

At this time, the teach program decoding processing section (42) includes the teach program storage section (41) and the teaching point storage device (5).
) takes in the necessary information from the approach calculation processing unit (
44), and also provides the moving direction of the sensor (2) and a target coordinate signal to the position control processing section (45) via the trajectory interpolation processing section (43). The position control processing section (45) receives this signal and activates the sensor drive device (
3) each actuator is driven to move the sensor (2) in the direction of the measurement start target position P. At this time, coordinate information is received from the resolver device (7), and the sensor (2) is moved at a speed corresponding to the measurement mode based on a signal from the approach calculation processing section (44). During this time, the sensor (
2) gives a height signal corresponding to the distance to the object to be measured (1) to the approach calculation processing section (44), and this approach calculation processing section (44) executes the program of step (14), that is, the end of the approach. making decisions. At the end of the approach, the height signal of the sensor (2) is detected by the sensor (
2) It is determined at the time when the standoff distance h0 of its measurable range becomes approximately equal. When it is determined in step (14) that the approach is completed, the approach calculation processing unit (44) in step (15)
and the actual measured values P,' are calculated. Thereafter, the approach calculation processing section (44) sends the shift amount to the shift processing section (7) as approach completion information.

Of the teaching points stored in the storage device (5) based on step (16), the shift processing section (7) selects teaching points P, ~P, and P2□ ~P2. to which shift information has been added. Shift the coordinates of P,' to P9' and P2 according to the above deviation amount.
□' to P28' are the teach program storage section (41
). Teach program decoding processing unit (
42) shifts the sensor (2) from P,' to P,' according to the shifted data based on step (17).

The information measured by the senna (2) is stored in the measurement point position coordinate storage means (9) via the current position calculation processing means (8).

As described above, in the case of the shaped steel shown in FIG. 2, no matter how the dimension Ll in the figure changes, the size and shape can be measured by only one initial teaching without changing the program.

In addition, although this invention was explained in the said Example about the case where the dimension and shape of shaped steel were measured, it is clear that it is not limited to this.

It goes without saying that various other changes can be made within the scope of the idea of the present invention.

〔Effect of the invention〕

As explained above, according to the present invention, there is provided a shift command setting function device that adds shift information for an arbitrary teach point among a plurality of teach points, and a shift command setting function device that adds shift information to an arbitrary teach point among a plurality of teach points, and a shift command setting function device that adds shift information to an arbitrary teach point among a plurality of teach points, and Since the structure includes a shift processing unit that shifts the coordinates of the teaching point to which shift information has been added based on the deviation from the actual measurement start position on the object to be measured, it is possible to This has the advantage that the shape and dimensions of the object can be measured with a simple configuration and without having to be taught using the same program for each measurement.

[BRIEF DESCRIPTION OF THE DRAWINGS] FIG. 1 is a block diagram showing the main parts of an embodiment of the present invention.
Fig. 2 is a plan view showing a specific example of teaching and shifting according to the above embodiment, Fig. 3 is a flow diagram explaining the operation of the above embodiment, and Fig. 4 is a conceptual diagram of the mechanical system of a general measuring device. FIG. 5 is a perspective view showing an example of an optical sensor. In the figure, (1) is the object to be measured, (2) is the sensor, and (3)
(5) is a storage device, (6) is a shift command setting function device, and (7) is a shift processing section. Note that the same reference numerals in each figure indicate the same or corresponding parts. Procedural amendment October 22, 1986

Claims (1)

[Claims] An optical sensor that outputs a signal according to the distance to the object to be measured, a sensor drive device that moves the sensor around the object to be measured and can rotate the sensor itself, and starts measurement of the sensor. A storage device that stores measurement paths including positions as a plurality of teaching points, among the plurality of teaching points,
A shift command setting function device that adds shift information for an arbitrary teaching point; An optical shape measuring device comprising a shift processing unit that shifts the coordinates of a teaching point to which shift information has been added, and measuring the shape or dimensions of the object to be measured.